diff options
| -rw-r--r-- | Makefile | 23 | ||||
| -rw-r--r-- | ao.h | 17 | ||||
| -rw-r--r-- | ao_adc.c | 2 | ||||
| -rw-r--r-- | ao_cmd.c | 32 | ||||
| -rw-r--r-- | ao_dbg.c | 12 | ||||
| -rw-r--r-- | ao_ee.c | 4 | ||||
| -rw-r--r-- | ao_gps.c | 6 | ||||
| -rw-r--r-- | ao_log.c | 4 | ||||
| -rw-r--r-- | ao_monitor.c | 24 | ||||
| -rw-r--r-- | ao_serial.c | 2 | ||||
| -rw-r--r-- | ao_telemetrum.c | 1 | ||||
| -rw-r--r-- | ao_telemetry.c | 10 | ||||
| -rw-r--r-- | ao_teleterra.c | 55 | ||||
| -rw-r--r-- | ao_tidongle.c | 3 | ||||
| -rwxr-xr-x | check-stack | 3 |
15 files changed, 138 insertions, 60 deletions
@@ -97,6 +97,20 @@ TI_SRC = \ $(TELE_COMMON_SRC) \ $(TI_TASK_SRC) +TT_TASK_SRC = \ + ao_teleterra.c +# +# All sources for TeleTerra +# +TT_SRC = \ + $(ALTOS_SRC) \ + $(ALTOS_DRIVER_SRC) \ + $(TELE_RECEIVER_SRC) \ + $(TELE_DRIVER_SRC) \ + $(TELE_COMMON_SRC) \ + $(TT_TASK_SRC) + + SRC = \ $(ALTOS_SRC) \ $(ALTOS_DRIVER_SRC) \ @@ -109,6 +123,7 @@ SRC = \ TM_REL=$(TM_SRC:.c=.rel) TI_REL=$(TI_SRC:.c=.rel) +TT_REL=$(TT_SRC:.c=.rel) ADB=$(SRC:.c=.adb) ASM=$(SRC:.c=.asm) @@ -118,7 +133,7 @@ REL=$(SRC:.c=.rel) RST=$(SRC:.c=.rst) SYM=$(SRC:.c=.sym) -PROGS=telemetrum.ihx tidongle.ihx +PROGS=telemetrum.ihx tidongle.ihx teleterra.ihx PCDB=$(PROGS:.ihx=.cdb) PLNK=$(PROGS:.ihx=.lnk) PMAP=$(PROGS:.ihx=.map) @@ -140,6 +155,12 @@ tidongle.ihx: $(TI_REL) Makefile tidongle.ihx: telemetrum.ihx +teleterra.ihx: $(TT_REL) Makefile + $(CC) $(LDFLAGS) $(CFLAGS) -o $@ $(TT_REL) + sh check-stack ao.h teleterra.mem + +teleterra.ihx: tidongle.ihx + altitude.h: make-altitude nickle make-altitude > altitude.h @@ -622,6 +622,9 @@ ao_dbg_debug_mode(void); void ao_dbg_reset(void); +void +ao_dbg_init(void); + /* * ao_serial.c */ @@ -685,17 +688,11 @@ ao_gps_init(void); * ao_telemetry.c */ -#define AO_TELEMETRY_SENSOR 1 -#define AO_TELEMETRY_GPS 2 - struct ao_telemetry { - uint8_t addr; - uint8_t type; - uint8_t flight_state; - union { - struct ao_adc adc; - struct ao_gps_data gps; - } u; + uint8_t addr; + uint8_t flight_state; + struct ao_adc adc; + struct ao_gps_data gps; }; void @@ -76,7 +76,7 @@ ao_adc_dump(void) } __code struct ao_cmds ao_adc_cmds[] = { - { 'a', ao_adc_dump, "a Display current ADC values\n" }, + { 'a', ao_adc_dump, "a Display current ADC values" }, { 0, ao_adc_dump, NULL }, }; @@ -226,10 +226,13 @@ help(void) { __xdata uint8_t cmds; __xdata uint8_t cmd; + __code struct ao_cmds * __xdata cs; puts(help_txt); - for (cmds = 0; cmds < ao_ncmds; cmds++) - for (cmd = 0; ao_cmds[cmds][cmd].cmd; cmd++) - puts(ao_cmds[cmds][cmd].help); + for (cmds = 0; cmds < ao_ncmds; cmds++) { + cs = ao_cmds[cmds]; + for (cmd = 0; cs[cmd].cmd != '\0'; cmd++) + puts(cs[cmd].help); + } } static void @@ -257,6 +260,8 @@ ao_cmd(void *parameters) { __xdata uint8_t c; __xdata uint8_t cmd, cmds; + __code struct ao_cmds * __xdata cs; + void (*__xdata func)(void); (void) parameters; lex_echo = 1; @@ -268,16 +273,19 @@ ao_cmd(void *parameters) ao_cmd_lex(); if (c == '\r' || c == '\n') continue; - cmd = 0; + func = (void (*)(void)) NULL; for (cmds = 0; cmds < ao_ncmds; cmds++) { - for (cmd = 0; ao_cmds[cmds][cmd].cmd != '\0'; cmd++) - if (ao_cmds[cmds][cmd].cmd == c) + cs = ao_cmds[cmds]; + for (cmd = 0; cs[cmd].cmd != '\0'; cmd++) + if (cs[cmd].cmd == c) { + func = cs[cmd].func; break; - if (ao_cmds[cmds][cmd].cmd) + } + if (func) break; } - if (ao_cmds[cmds][cmd].cmd) - (*ao_cmds[cmds][cmd].func); + if (func) + (*func)(); else ao_cmd_status = ao_cmd_syntax_error; report(); @@ -288,9 +296,9 @@ __xdata struct ao_task ao_cmd_task; __code struct ao_cmds ao_base_cmds[] = { { '?', help, "? Print this message" }, - { 'T', ao_task_info, "T Show task states\n" }, - { 'E', echo, "E <0 off, 1 on> Set command echo mode\n" }, - { 'd', dump, "d <start> <end> Dump memory\n" }, + { 'T', ao_task_info, "T Show task states" }, + { 'E', echo, "E <0 off, 1 on> Set command echo mode" }, + { 'd', dump, "d <start> <end> Dump memory" }, { 0, help, NULL }, }; @@ -330,12 +330,12 @@ debug_output(void) } __code struct ao_cmds ao_dbg_cmds[7] = { - { 'D', debug_enable, "D Enable debug mode\n" }, - { 'G', debug_get, "G <count> Get data from debug port\n" }, - { 'I', debug_input, "I <count> <addr> Input <count> bytes to target at <addr>\n" }, - { 'O', debug_output, "O <count> <addr> Output <count> bytes to target at <addr>\n" }, - { 'P', debug_put, "P <byte> ... Put data to debug port\n" }, - { 'R', debug_reset, "R Reset target\n" }, + { 'D', debug_enable, "D Enable debug mode" }, + { 'G', debug_get, "G <count> Get data from debug port" }, + { 'I', debug_input, "I <count> <addr> Input <count> bytes to target at <addr>" }, + { 'O', debug_output, "O <count> <addr> Output <count> bytes to target at <addr>" }, + { 'P', debug_put, "P <byte> ... Put data to debug port" }, + { 'R', debug_reset, "R Reset target" }, { 0, debug_reset, 0 }, }; @@ -403,8 +403,8 @@ ee_store(void) } __code struct ao_cmds ao_ee_cmds[] = { - { 'e', ee_dump, "e <block> Dump a block of EEPROM data\n" }, - { 'w', ee_store, "w <block> <start> <len> <data> ... Write data to EEPROM\n" }, + { 'e', ee_dump, "e <block> Dump a block of EEPROM data" }, + { 'w', ee_store, "w <block> <start> <len> <data> ... Write data to EEPROM" }, { 0, ee_store, NULL }, }; @@ -257,7 +257,6 @@ void ao_gps_report(void) { static __xdata struct ao_log_record gps_log; - static __xdata struct ao_telemetry gps_telemetry; static __xdata struct ao_gps_data gps_data; for (;;) { @@ -287,9 +286,6 @@ ao_gps_report(void) gps_log.u.gps_altitude.altitude = gps_data.altitude; gps_log.u.gps_altitude.unused = 0xffff; ao_log_data(&gps_log); - gps_telemetry.type = AO_TELEMETRY_GPS; - memcpy(&gps_telemetry.u.gps, &gps_data, sizeof (struct ao_gps_data)); - ao_telemetry_send(&gps_telemetry); } } @@ -306,7 +302,7 @@ gps_dump(void) __reentrant } __code struct ao_cmds ao_gps_cmds[] = { - { 'g', gps_dump, "g Display current GPS values\n" }, + { 'g', gps_dump, "g Display current GPS values" }, { 0, gps_dump, NULL }, }; @@ -141,7 +141,7 @@ ao_log(void) log.u.sensor.accel = ao_adc_ring[ao_log_adc_pos].accel; log.u.sensor.pres = ao_adc_ring[ao_log_adc_pos].pres; ao_log_data(&log); - if (ao_log_adc_pos == 0) { + if ((ao_log_adc_pos & 0x1f) == 0) { log.type = AO_LOG_TEMP_VOLT; log.tick = ao_adc_ring[ao_log_adc_pos].tick; log.u.temp_volt.temp = ao_adc_ring[ao_log_adc_pos].temp; @@ -193,7 +193,7 @@ dump_log(void) } __code struct ao_cmds ao_log_cmds[] = { - { 'l', dump_log, "l Dump last flight log\n" }, + { 'l', dump_log, "l Dump last flight log" }, { 0, dump_log, NULL }, }; diff --git a/ao_monitor.c b/ao_monitor.c index 1c2d1274..f3c1fe7d 100644 --- a/ao_monitor.c +++ b/ao_monitor.c @@ -45,21 +45,15 @@ ao_monitor(void) ao_state_names[state]); if (!(recv.status & PKT_APPEND_STATUS_1_CRC_OK)) printf("CRC INVALID "); - switch (recv.telemetry.type) { - case AO_TELEMETRY_SENSOR: - printf("%5u a: %d p: %d t: %d v: %d d: %d m: %d\n", - recv.telemetry.u.adc.tick, - recv.telemetry.u.adc.accel, - recv.telemetry.u.adc.pres, - recv.telemetry.u.adc.temp, - recv.telemetry.u.adc.v_batt, - recv.telemetry.u.adc.sense_d, - recv.telemetry.u.adc.sense_m); - break; - case AO_TELEMETRY_GPS: - ao_gps_print(&recv.telemetry.u.gps); - break; - } + printf("%5u a: %d p: %d t: %d v: %d d: %d m: %d\n", + recv.telemetry.adc.tick, + recv.telemetry.adc.accel, + recv.telemetry.adc.pres, + recv.telemetry.adc.temp, + recv.telemetry.adc.v_batt, + recv.telemetry.adc.sense_d, + recv.telemetry.adc.sense_m); + ao_gps_print(&recv.telemetry.gps); ao_usb_flush(); } } diff --git a/ao_serial.c b/ao_serial.c index a2292980..2ed07914 100644 --- a/ao_serial.c +++ b/ao_serial.c @@ -101,7 +101,7 @@ send_serial(void) } __code struct ao_cmds ao_serial_cmds[] = { - { 'S', send_serial, "S<data> Send data to serial line\n" }, + { 'S', send_serial, "S<data> Send data to serial line" }, { 0, send_serial, NULL }, }; diff --git a/ao_telemetrum.c b/ao_telemetrum.c index 1f7a829f..d2e05eb5 100644 --- a/ao_telemetrum.c +++ b/ao_telemetrum.c @@ -41,5 +41,6 @@ main(void) ao_gps_init(); ao_telemetry_init(); ao_radio_init(); + ao_dbg_init(); ao_start_scheduler(); } diff --git a/ao_telemetry.c b/ao_telemetry.c index 092918d4..b46f03c7 100644 --- a/ao_telemetry.c +++ b/ao_telemetry.c @@ -34,16 +34,18 @@ ao_telemetry_send(__xdata struct ao_telemetry *telemetry) __reentrant void ao_telemetry(void) { - static __xdata struct ao_radio_recv recv; + static __xdata struct ao_telemetry telemetry; static uint8_t state; while (ao_flight_state == ao_flight_startup || ao_flight_state == ao_flight_idle) ao_sleep(DATA_TO_XDATA(&ao_flight_state)); - recv.telemetry.type = AO_TELEMETRY_SENSOR; for (;;) { - ao_adc_get(&recv.telemetry.u.adc); - ao_telemetry_send(&recv.telemetry); + ao_adc_get(&telemetry.adc); + ao_mutex_get(&ao_gps_mutex); + memcpy(&telemetry.gps, &ao_gps_data, sizeof (struct ao_gps_data)); + ao_mutex_put(&ao_gps_mutex); + ao_telemetry_send(&telemetry); ao_delay(AO_MS_TO_TICKS(1000)); } } diff --git a/ao_teleterra.c b/ao_teleterra.c new file mode 100644 index 00000000..6a2b0047 --- /dev/null +++ b/ao_teleterra.c @@ -0,0 +1,55 @@ +/* + * Copyright © 2009 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#define AO_NO_ADC_ISR 1 +#include "ao.h" + +void +main(void) +{ + CLKCON = 0; + while (!(SLEEP & SLEEP_XOSC_STB)) + ; + + /* Turn on the red LED until the system is stable */ + ao_led_init(); + ao_led_on(AO_LED_RED); + ao_timer_init(); + ao_beep_init(); + ao_cmd_init(); + ao_usb_init(); + ao_serial_init(); + ao_gps_init(); + ao_monitor_init(); + ao_radio_init(); + ao_dbg_init(); + ao_start_scheduler(); +} + +/* Stub for systems which have no ADC */ +void +ao_adc_poll(void) +{ +} + +/* Stub to not log GPS data */ +void +ao_log_data(struct ao_log_record *log) +{ + (void) log; +} + diff --git a/ao_tidongle.c b/ao_tidongle.c index 385e0cfd..ea21e127 100644 --- a/ao_tidongle.c +++ b/ao_tidongle.c @@ -34,6 +34,9 @@ main(void) ao_usb_init(); ao_monitor_init(); ao_radio_init(); + ao_dbg_init(); + /* Bring up the USB link */ + ao_led_on(AO_LED_GREEN); ao_start_scheduler(); } diff --git a/check-stack b/check-stack index 6d3106a8..82680b88 100755 --- a/check-stack +++ b/check-stack @@ -6,7 +6,8 @@ HEADER_STACK=`awk '/#define AO_STACK_START/ {print $3}' $HEADER | nickle` MEM_STACK=`awk '/Stack starts at/ {print $4}' $MEM | nickle` if [ "$HEADER_STACK" -lt "$MEM_STACK" ]; then - echo "Set AO_STACK_START to at least $MEM_STACK" + MIN=0x`nickle -e "$MEM_STACK # 16"` + echo "Set AO_STACK_START to at least $MIN" exit 1 else exit 0 |